A novel approach is proposed for coordination of swarms of dynamical systems in order to provide them with a desired collective behavior. The approach is based on the sliding mode reference conditioning technique as local interaction handler among neighbor systems. Neighbor systems become connected when a virtual constraint between them is violated, leading to a time-varying switching topology for the connections in the swarm. The approach addresses the problem of coordinating dynamical systems with possibly different dynamics (e.g. linear and nonlinear, different orders, constraints, etc.), assuming there is no leader. The main idea is to shape the systems local feasible references in order to keep them coordinated. Coordination is understood as invariance of a set defined by some aimed relationship among the references. This implies considering the local goals, the systems constraints and the achievable performances as well. To show the applicability of the approach, the problem of coordinating a swarm of different dynamical systems with control saturations is addressed as a particular case.

%B Variable Structure Systems (VSS), 2012 12th International Workshop on %I IEEE %C Mumbai, Maharashtra %8 2012/01/12 %@ 978-1-4577-2065-9 %G eng %M 12616630 %R 10.1109/VSS.2012.6163507 %0 Journal Article %J Industrial Informatics, IEEE Transactions onIndustrial Informatics, IEEE Transactions on %D 2011 %T A Delay-Dependent Dual-Rate PID Controller Over an Ethernet Network %A Cuenca,A. %A Salt,J. %A A. Sala %A Piza,R. %K delay dependent dual rate PID controller %K delays %K duality (mathematics) %K Ethernet network %K event based control %K gain scheduling %K linear matrix inequalities %K load condition %K local area networks %K networked control systems %K probabilistic linear matrix inequality %K remote controller %K stability %K stability analysis %K synchronisation %K three-term control %K time varying delay %K time-varying systems %K TrueTime simulation %X In this paper, a methodology to design controllers able to cope with different load conditions on an Ethernet network is introduced. Load conditions induce time-varying delays between measurements and control. To face these variations an interpolated, delay-dependent gain scheduling law is used. The lack of synchronization is solved by adopting an event-based control approach. The dual-rate control action computation is carried out at a remote controller, whereas control actions and measurements are taken out locally at the controlled process site. Stability is proved in terms of probabilistic linear matrix inequalities. TrueTime simulations in an Ethernet case show the benefit of the proposal, which is later validated on an experimental test-bed Ethernet environment. %B Industrial Informatics, IEEE Transactions onIndustrial Informatics, IEEE Transactions on %V 7 %P 18 - 29 %8 2011/// %@ 1551-3203 %G eng %N 1